Achieving a Good Wheeled Landing with Fixed-Wing PX4

PX4 Autopilot
1

I’m setting up a fixed-wing plane on the latest PX4 stable and I’m trying to figure out the best way to get a smooth autonomous landing on its wheels, just like a real pilot would.

I have a few questions:

  1. Do I absolutely need a Lidar/Rangefinder? Or is it possible to get a nice, smooth touchdown on the landing gear using just the GPS and Baro?

  2. How can I set up a consistent landing path? I want the plane to reliably hit the runway threshold and flare perfectly every time. What are the most critical parameters in the “Land” mission item to tune for this?

  3. How does PX4 deal with baro altitude errors during the final approach? The altitude can fluctuate by a meter or so, which seems tricky for timing the flare correctly. How does PX4 manage a precise touchdown without a lidar?

My goal is a clean, repeatable landing on the runway, not just a controlled crash at the end of the mission.

Any advice or key parameters to look at would be great. Thanks

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